Legal claims defining the scope of protection. Each claim is shown in both the original legal language and a plain English translation.
1. An image registration apparatus comprising: an image acquisition unit that acquires a three-dimensional image obtained by imaging a subject and an image different from the three-dimensional image; a graph structure generation unit that generates a graph structure of a tubular structure included in the three-dimensional image; a contour information acquisition unit that acquires contour information of the tubular structure at each point on the graph structure; and a registration unit that performs registration between the three-dimensional image and the different image on the basis of the contour information, the different image is the image different from the three-dimensional image.
An image registration apparatus for aligning images comprises an image acquisition unit that obtains a three-dimensional (3D) image of a subject and a separate, different image. A graph structure generation unit creates a graph representation of a tubular structure found within the 3D image. A contour information acquisition unit then extracts contour details of this tubular structure at each point along the generated graph. Finally, a registration unit performs the image alignment between the 3D image and the different image, utilizing these extracted contour details.
2. The image registration apparatus according to claim 1 , wherein the different image is an actual endoscope image acquired using an endoscope inserted in the tubular structure.
An image registration apparatus for aligning images, as described in Claim 1, additionally specifies that the "different image" is an actual endoscope image. This endoscope image is acquired using an endoscope that has been inserted into the tubular structure within the subject. The apparatus uses this endoscope image, along with a three-dimensional (3D) image of the subject, its tubular structure graph, and contour details, to perform image registration.
3. The image registration apparatus according to claim 2 , further comprising: a visual point information acquisition unit that acquires visual point information inside the tubular structure; a projection point specification unit that specifies a projection point from respective points on the graph structure on the basis of the visual point information and the graph structure; and a projection image generation unit that generates a projection image obtained by projecting the contour information at the projection point on a two-dimensional plane, wherein the registration unit performs registration between the three-dimensional image and the different image using the projection image.
An image registration apparatus for aligning images, as described in Claim 2, further enhances the registration process. It includes a visual point information acquisition unit that obtains internal viewing perspective data from inside the tubular structure. A projection point specification unit identifies a specific projection point from points on the tubular structure's graph, based on this internal visual point information and the graph. A projection image generation unit creates a two-dimensional (2D) projection image by projecting the tubular structure's contour information, from the specified projection point, onto a 2D plane. The registration unit then performs the alignment between the 3D image and the actual endoscope image using this generated projection image.
4. The image registration apparatus according to claim 3 , wherein the projection point specification unit specifies one point on the graph structure as a starting point, specifies points included in a predetermined range as projection candidate points while following the graph structure from the starting point, and specifies the projection point from the projection candidate points.
An image registration apparatus for aligning images, as described in Claim 3, refines how projection points are specified. The projection point specification unit designates one point on the tubular structure's graph as a starting point. It then identifies a set of "projection candidate points" by tracing along the graph structure from this starting point within a predetermined range. The final projection point, used for generating the 2D projection image, is selected from these identified projection candidate points.
5. The image registration apparatus according to claim 2 , further comprising: a visual point information acquisition unit that acquires visual point information inside the tubular structure; a projection point specification unit that specifies a projection point from respective points on the graph structure on the basis of the visual point information and the graph structure; a projection image generation unit that generates a projection image obtained by projecting the contour information at the projection point on a two-dimensional plane, and a hole contour extraction unit that extracts a contour of a hole included in the actual endoscope image, wherein the registration unit performs registration between the three-dimensional image and the different image using the projection image and the extracted contour of the hole.
An image registration apparatus for aligning images, as described in Claim 2, extends its registration capabilities. It includes a visual point information acquisition unit that obtains internal viewing perspective data from inside the tubular structure. A projection point specification unit identifies a specific projection point from points on the tubular structure's graph, based on this internal visual point information and the graph. A projection image generation unit creates a two-dimensional (2D) projection image by projecting the tubular structure's contour information from the specified projection point. Additionally, a hole contour extraction unit identifies and extracts the contour of any holes visible within the actual endoscope image. The registration unit then performs the alignment between the 3D image and the endoscope image using both the generated projection image and the extracted hole contour.
6. The image registration apparatus according to claim 5 , wherein the projection point specification unit specifies one point on the graph structure as a starting point, specifies points included in a predetermined range as projection candidate points while following the graph structure from the starting point, and specifies the projection point from the projection candidate points.
An image registration apparatus for aligning images, as described in Claim 5, provides more detail on how projection points are determined. The projection point specification unit first selects a starting point on the tubular structure's graph. It then identifies potential "projection candidate points" by traversing the graph structure from the starting point within a predefined distance or range. The ultimate projection point, which is used to generate the 2D projection image, is then chosen from among these candidate points.
7. The image registration apparatus according to claim 5 , wherein the projection point specification unit specifies the projection point on the basis of shape information of the contour information.
An image registration apparatus for aligning images, as described in Claim 5, specifies that the projection point specification unit selects the projection point. This selection is made based on the shape characteristics or properties of the contour information of the tubular structure. This allows for a more informed choice of the projection point, factoring in the geometry of the tubular structure.
8. The image registration apparatus according to claim 1 , wherein the different image is a three-dimensional image, different from the three-dimensional image, obtained by imaging the subject.
An image registration apparatus for aligning images, as described in Claim 1, specifies that the "different image" is another three-dimensional (3D) image. This second 3D image is distinct from the primary 3D image, but both are obtained by imaging the same subject. The apparatus uses these two 3D images, along with the tubular structure graph and contour details from the primary 3D image, to perform image registration.
9. The image registration apparatus according to claim 8 , further comprising: a visual point information acquisition unit that acquires visual point information inside the tubular structure; a projection point specification unit that specifies a projection point from respective points on the graph structure on the basis of the visual point information and the graph structure; and a projection image generation unit that generates a projection image obtained by projecting the contour information at the projection point on a two-dimensional plane, wherein the registration unit performs registration between the three-dimensional image and the different image using the projection image.
An image registration apparatus for aligning images, as described in Claim 8, further enhances the registration process when both images are 3D. It includes a visual point information acquisition unit that obtains internal viewing perspective data from inside the tubular structure. A projection point specification unit identifies a specific projection point from points on the tubular structure's graph, based on this internal visual point information and the graph. A projection image generation unit creates a two-dimensional (2D) projection image by projecting the tubular structure's contour information, from the specified projection point, onto a 2D plane. The registration unit then performs the alignment between the primary 3D image and the secondary 3D image using this generated projection image.
10. The image registration apparatus according to claim 9 , wherein the projection point specification unit specifies one point on the graph structure as a starting point, specifies points included in a predetermined range as projection candidate points while following the graph structure from the starting point, and specifies the projection point from the projection candidate points.
An image registration apparatus for aligning images, as described in Claim 9, provides more detail on how projection points are determined. The projection point specification unit first selects a starting point on the tubular structure's graph. It then identifies potential "projection candidate points" by traversing the graph structure from the starting point within a predefined distance or range. The ultimate projection point, which is used to generate the 2D projection image for registration, is then chosen from among these candidate points.
11. The image registration apparatus according to claim 1 , further comprising: a visual point information acquisition unit that acquires visual point information inside the tubular structure; a projection point specification unit that specifies a projection point from respective points on the graph structure on the basis of the visual point information and the graph structure; and a projection image generation unit that generates a projection image obtained by projecting the contour information at the projection point on a two-dimensional plane, wherein the registration unit performs registration between the three-dimensional image and the different image using the projection image.
An image registration apparatus for aligning images, as described in Claim 1, includes additional components to refine the registration. It comprises a visual point information acquisition unit that obtains internal viewing perspective data from inside the tubular structure. A projection point specification unit identifies a specific projection point from points on the tubular structure's graph, based on this internal visual point information and the graph. A projection image generation unit creates a two-dimensional (2D) projection image by projecting the tubular structure's contour information from the specified projection point onto a 2D plane. The registration unit then performs the image alignment between the original 3D image and the different image using this generated projection image.
12. The image registration apparatus according to claim 11 , wherein the projection point specification unit specifies one point on the graph structure as a starting point, specifies points included in a predetermined range as projection candidate points while following the graph structure from the starting point, and specifies the projection point from the projection candidate points.
An image registration apparatus for aligning images, as described in Claim 11, refines how projection points are specified. The projection point specification unit designates one point on the tubular structure's graph as a starting point. It then identifies a set of "projection candidate points" by tracing along the graph structure from this starting point within a predetermined range. The final projection point, used for generating the 2D projection image, is selected from these identified projection candidate points.
13. The image registration apparatus according to claim 12 , wherein the projection point specification unit specifies the projection point on the basis of shape information of the contour information.
An image registration apparatus for aligning images, as described in Claim 12, specifies that the projection point specification unit selects the projection point. This selection is made based on the shape characteristics or properties of the contour information of the tubular structure. This allows for a more informed choice of the projection point, factoring in the geometry of the tubular structure for more accurate registration.
14. The image registration apparatus according to claim 11 , wherein the projection point specification unit specifies the projection point on the basis of shape information of the contour information.
An image registration apparatus for aligning images, as described in Claim 11, specifies that the projection point specification unit selects the projection point. This selection is made based on the shape characteristics or properties of the contour information of the tubular structure. This allows for a more informed choice of the projection point, factoring in the geometry of the tubular structure for accurate registration.
15. The image registration apparatus according to claim 11 , wherein the projection image generation unit acquires information on a branch to which the projection point belongs and adds the information on the branch to the projection image.
An image registration apparatus for aligning images, as described in Claim 11, specifies an enhancement to the projection image generation. The projection image generation unit not only creates the 2D projection image from contour information but also acquires information about the specific branch of the tubular structure to which the projection point belongs. This branch information is then embedded or added to the generated projection image, providing additional context for registration.
16. The image registration apparatus according to claim 11 , further comprising: a visual point information estimation unit that estimates visual point information of the different image on the basis of a result of the registration process between the projection image and the different image and visual point information of the projection image.
An image registration apparatus for aligning images, as described in Claim 11, further includes a visual point information estimation unit. This unit estimates the visual point information (e.g., camera position, orientation) of the "different image." It does so by analyzing the results of the registration process (which aligns the projection image with the different image) and by utilizing the visual point information already associated with the generated projection image.
17. The image registration apparatus according to claim 1 , wherein the tubular structure is the bronchus.
An image registration apparatus for aligning images, as described in Claim 1, specifies that the "tubular structure" for which the graph and contour information are generated is the bronchus. This apparatus, therefore, is specifically designed for registering images of bronchial trees within a subject.
18. An image registration method using the image registration apparatus according to claim 1 comprising: acquiring the three-dimensional image obtained by imaging the subject and the image different from the three-dimensional image; generating the graph structure of the tubular structure included in the three-dimensional image; acquiring the contour information of the tubular structure at each point on the graph structure; and performing registration between the three-dimensional image and the different image on the basis of the contour information.
An image registration method for aligning images involves several steps. First, a three-dimensional (3D) image of a subject and a separate, different image are acquired. Next, a graph representation of a tubular structure found within the 3D image is generated. Following this, contour details of the tubular structure at each point along the generated graph are acquired. Finally, image registration is performed between the 3D image and the different image, utilizing these extracted contour details for alignment.
19. A non-transitory computer readable recording medium storing an image registration program that causes a computer to function as the image registration apparatus according to claim 1 , the image registration program causes the computer to execute: a process of acquiring the three-dimensional image obtained by imaging the subject and the image different from the three-dimensional image; a process of generating the graph structure of the tubular structure included in the three-dimensional image; a process of acquiring the contour information of the tubular structure at each point on the graph structure; and a process of performing registration between the three-dimensional image and the different image on the basis of the contour information.
A non-transitory computer-readable recording medium stores an image registration program that enables a computer to perform image alignment. The program instructs the computer to execute processes including: acquiring a three-dimensional (3D) image obtained by imaging a subject, along with a separate, different image; generating a graph representation of a tubular structure found within the 3D image; acquiring contour details of the tubular structure at each point on the generated graph; and performing registration between the 3D image and the different image based on these acquired contour details.
20. An image registration apparatus comprising: a memory that stores a command to be executed by a computer; and a processor configured to executed the stored command, wherein the processor executes a process of acquiring a three-dimensional image obtained by imaging a subject and an image different from the three-dimensional image; a process of generating a graph structure of a tubular structure included in the three-dimensional image; a process of acquiring contour information of the tubular structure at each point on the graph structure; and a process of performing registration between the three-dimensional image and the different image on the basis of the contour information, the different image is the image different from the three-dimensional image.
An image registration apparatus comprises a memory storing commands and a processor configured to execute these commands for image alignment. The processor executes processes to: acquire a three-dimensional (3D) image obtained by imaging a subject, and a separate, different image; generate a graph representation of a tubular structure found within the 3D image; acquire contour details of the tubular structure at each point on the generated graph; and perform registration between the 3D image and the different image based on these acquired contour details.
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August 4, 2020
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